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AP_HAL: Enable SocketAPM to use LwIP/ChibiOS

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This commit is contained in:
Tom Pittenger 2023-11-12 16:38:58 -08:00 committed by Tom Pittenger
parent 4c70670445
commit df600e5582
2 changed files with 53 additions and 3 deletions
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47
libraries/AP_HAL/utility/Socket.cpp
View File

@ -17,7 +17,8 @@
*/
#include <AP_HAL/AP_HAL.h>
#if HAL_OS_SOCKETS
#include <AP_Networking/AP_Networking_Config.h>
#if AP_NETWORKING_SOCKETS_ENABLED
#include "Socket.h"
#include <errno.h>
@ -34,7 +35,9 @@ SocketAPM::SocketAPM(bool _datagram, int _fd) :
datagram(_datagram),
fd(_fd)
{
#ifdef FD_CLOEXEC
fcntl(fd, F_SETFD, FD_CLOEXEC);
#endif
if (!datagram) {
int one = 1;
setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
@ -44,7 +47,11 @@ SocketAPM::SocketAPM(bool _datagram, int _fd) :
SocketAPM::~SocketAPM()
{
if (fd != -1) {
#if AP_NETWORKING_BACKEND_CHIBIOS
::lwip_close(fd);
#else
::close(fd);
#endif
fd = -1;
}
}
@ -69,7 +76,11 @@ bool SocketAPM::connect(const char *address, uint16_t port)
struct sockaddr_in sockaddr;
make_sockaddr(address, port, sockaddr);
#if AP_NETWORKING_BACKEND_CHIBIOS
if (::lwip_connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
#else
if (::connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
#endif
return false;
}
return true;
@ -85,7 +96,11 @@ bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t tim
set_blocking(false);
#if AP_NETWORKING_BACKEND_CHIBIOS
int ret = ::lwip_connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
#else
int ret = ::connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
#endif
if (ret == 0) {
// instant connect?
return true;
@ -113,7 +128,11 @@ bool SocketAPM::bind(const char *address, uint16_t port)
struct sockaddr_in sockaddr;
make_sockaddr(address, port, sockaddr);
#if AP_NETWORKING_BACKEND_CHIBIOS
if (::lwip_bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
#else
if (::bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
#endif
return false;
}
return true;
@ -148,7 +167,11 @@ bool SocketAPM::set_blocking(bool blocking) const
*/
bool SocketAPM::set_cloexec() const
{
#ifdef FD_CLOEXEC
return (fcntl(fd, F_SETFD, FD_CLOEXEC) != -1);
#else
return false;
#endif
}
/*
@ -156,7 +179,11 @@ bool SocketAPM::set_cloexec() const
*/
ssize_t SocketAPM::send(const void *buf, size_t size) const
{
#if AP_NETWORKING_BACKEND_CHIBIOS
return ::lwip_send(fd, buf, size, 0);
#else
return ::send(fd, buf, size, 0);
#endif
}
/*
@ -166,7 +193,11 @@ ssize_t SocketAPM::sendto(const void *buf, size_t size, const char *address, uin
{
struct sockaddr_in sockaddr;
make_sockaddr(address, port, sockaddr);
#if AP_NETWORKING_BACKEND_CHIBIOS
return ::lwip_sendto(fd, buf, size, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
#else
return ::sendto(fd, buf, size, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
#endif
}
/*
@ -178,7 +209,11 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
return -1;
}
socklen_t len = sizeof(in_addr);
#if AP_NETWORKING_BACKEND_CHIBIOS
return ::lwip_recvfrom(fd, buf, size, MSG_DONTWAIT, (sockaddr *)&in_addr, &len);
#else
return ::recvfrom(fd, buf, size, MSG_DONTWAIT, (sockaddr *)&in_addr, &len);
#endif
}
/*
@ -242,7 +277,11 @@ bool SocketAPM::pollout(uint32_t timeout_ms)
*/
bool SocketAPM::listen(uint16_t backlog) const
{
#if AP_NETWORKING_BACKEND_CHIBIOS
return ::lwip_listen(fd, (int)backlog) == 0;
#else
return ::listen(fd, (int)backlog) == 0;
#endif
}
/*
@ -255,7 +294,11 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
return nullptr;
}
#if AP_NETWORKING_BACKEND_CHIBIOS
int newfd = ::lwip_accept(fd, nullptr, nullptr);
#else
int newfd = ::accept(fd, nullptr, nullptr);
#endif
if (newfd == -1) {
return nullptr;
}
@ -265,4 +308,4 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
return new SocketAPM(false, newfd);
}
#endif // HAL_OS_SOCKETS
#endif // AP_NETWORKING_BACKEND_ANY

9
libraries/AP_HAL/utility/Socket.h
View File

@ -18,6 +18,9 @@
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Networking/AP_Networking_Config.h>
#if AP_NETWORKING_SOCKETS_ENABLED
#if HAL_OS_SOCKETS
#include <fcntl.h>
@ -28,6 +31,10 @@
#include <netinet/tcp.h>
#include <arpa/inet.h>
#include <sys/select.h>
#elif AP_NETWORKING_BACKEND_CHIBIOS
#include <AP_Networking/AP_Networking_ChibiOS.h>
#include <lwip/sockets.h>
#endif
class SocketAPM {
public:
@ -72,4 +79,4 @@ private:
void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
};
#endif // HAL_OS_SOCKETS
#endif // AP_NETWORKING_SOCKETS_ENABLED